As an observation in Stage (3.2.2), when I use ctrl 'wander' and ./laserobstacleavoid together I get a combination of the 2 behaviours. The behaviours are either combining at 50% each or in some arbitrary manner. The combined behaviour is faster then ./laserobstacleavoid in the caves environment on pioneer robot.
Is there any method by which I can combine these 2 in some sensible manner (viz. 80% ./laserobstacleavoid + 20% ctrl 'wander') ? or do I have to write fresh C++ codes for such an effort ?